US4611863A - Magnetically supported and torqued momentum reaction sphere - Google Patents
Magnetically supported and torqued momentum reaction sphere Download PDFInfo
- Publication number
- US4611863A US4611863A US06/516,819 US51681983A US4611863A US 4611863 A US4611863 A US 4611863A US 51681983 A US51681983 A US 51681983A US 4611863 A US4611863 A US 4611863A
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- US
- United States
- Prior art keywords
- rotor
- housing
- windings
- centering
- winding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0474—Active magnetic bearings for rotary movement
- F16C32/0493—Active magnetic bearings for rotary movement integrated in an electrodynamic machine, e.g. self-bearing motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2380/00—Electrical apparatus
- F16C2380/26—Dynamo-electric machines or combinations therewith, e.g. electro-motors and generators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/12—Gyroscopes
- Y10T74/1229—Gyroscope control
- Y10T74/1232—Erecting
- Y10T74/125—Erecting by magnetic field
Definitions
- a momentum wheel typically this comprises a balanced body mounted for rotation about an axis in the vehicle, and having means for angularly accelerating or decelerating the body about the axis.
- angular acceleration of the body about the axis in one direction results in angular acceleration of the vehicle about the axis in the opposite direction. Since the mass of the body is much less than the mass of the vehicle, a considerable acceleration of the body is required to produce a significant acceleration of the vehicle, but a considerable change in vehicle attitude about the axis can be produced, although quite slowly, by accelerating the body and then maintaining it in operation at the accelerated rate.
- a momentum wheel with its axis of rotation aligned with one of the major axes of the vehicle, arbitrarily defined as X-, Y-, and Z-axes. By this means it is possible to bring the vehicle to any desired position about the axis of the momentum wheel. If it is desired to be able to bring the vehicle to any desired attitude in space, it is possible to provide multiple momentum wheels, rotatable about additional axes which may or may not be perpendicular to each other and to the first axis. By acceleration and deceleration of the wheels in sequence, it is possible to bring the vehicle to its desired position in steps, which however might be a somewhat protracted procedure.
- a spinning momentum wheel acts as a gyroscope, and when it is attempted to give to a vehicle, having a first wheel spinning about a first axis, an acceleration about a second axis, by use of a second momentum wheel, the gyroscopic torques produced by the two wheels interact in a way known as cross coupling between the axes, compensation for which is required, but is generally not complete.
- momentum wheels rotating about multiple axes Another characteristic of momentum wheels rotating about multiple axes is that perfect balance with conventional support means, i.e., bearings, is not achieved, and the rotation of the unbalanced momentum wheels induces vibration disturbances into the vehicle body. Also conventional bearings have wear and life problems which limit the useful lifetimes of the vehicles in which they are installed.
- the present invention comprises a momentum exchange arrangement in which a single rotating body may be used to change the attitude of the vehicle in any direction without the possibility of any disturbing cross coupling torques, without any touching moving parts to cause wearout, and with a completely symmetrical magnetic support system which eliminates the complexities of past single axis magnetic support systems.
- FIG. 1 is a somewhat schematic showing of a momentum wheel according to the invention
- FIG. 2 is a sectional view of elements of FIG. 1,
- FIG. 3. is a circuit diagram of apparatus embodying the invention.
- FIGS. 4 and 5 are fragmentary showings of a portion of FIG. 1.
- a momentum exchange device according to the invention is shown to comprise a massive spherical body 20 having at least an outer layer which is both an electrical conductor and a magnetizable material.
- Body 20 is enclosed in a housing 21 which may be a concentric spherical shell.
- a housing 21 which may be a concentric spherical shell.
- Mounted at the ends of a first diameter 22 of the body are a pair of sectors 23 and 24 presently to be described.
- Mounted at the ends of a second diameter 25 are sectors 26 and 27, and mounted at the ends of a third diameter 30 are sectors 31 and 32.
- Diameters 22, 25, and 30 are orthogonal at the center 33 of body 20, and housing 21 may contain a liquid 34 in which body 20 has essentially zero buoyancy.
- Each sector comprises an arcuate set of laminations carrying a centering winding and a torquing winding.
- sector 23 comprises centering winding 40 and torquing winding 41
- sector 24 comprises centering winding 42 and torquing winding 43.
- sector 26 comprises centering winding 44 and torquing winding 45
- sector 27 comprises center winding 46 and torquing winding 47
- sector 30 comprises centering winding 50 and torquing winding 51
- sector 31 comprises centering winding 52 and torquing winding 53.
- Each centering winding has in series with it a capacitor: thus windings 40, 42, 44, 46, 50 and 52 are associated with capacitors 54, 55, 56, 57, 60 and 61 respectively.
- each torquing winding has a capacitor in series with it; thus windings 41, 43, 45, 47, 51 and 53 are associated with capacitors 62, 63, 64, 65, 66 and 67 respectively.
- the sectors are energized with alternating voltage of a desired frequency, such as 600 Hertz, from a source such as a transformer 70 having a primary winding 71, a centering winding 72 and a set of torquing windings 73 and 74.
- Winding 72 has a first grounded conductor 80 to which are connected first terminals of all of winding 40-53, and a second conductor 81 to which are connected capacitors 54-61 inclusive.
- Capacitors 62 and 63 are connected to the output conductor 82 of an amplifier 83 energized from a controller 84 in accordance with a reversing input signal 85, capacitors 64 and 65 are connected to the output conductor 86 of amplifier 87 energized from a controller 90 in accordance with a second reversing input 91, and capacitors 66 and 67 are energized from the output conductor 92 of an amplifier 93 energized from a controller 94 in accordance with a reversing input signal 95.
- phase shifter 96 has a grounded terminal 100 and an output conductor 101 connected to controllers 84, 90 and 94
- phase shifter 97 has a grounded terminal 102 and an output terminal 103 connected to controllers 84, 90 and 94.
- a computer may be provided to supply the controller inputs of members 85, 91, and 95 under appropriate software control.
- Sectors 23, 24, 26, 27, 30 and 31 are of identical construction, as shown in FIGS. 4 and 5.
- Each sector comprises a set of laminations 110 having an internal convex arcuate surface, of slightly larger diameter than that of body 20, defined by a plurality of salient poles 111 carrying the centering and torquing windings.
- sector 23 carries centering winding 40, connected by conductors 112 and 113 to ground conductor 80 and to capacitor 54, and torquing winding 41 connected by conductors 114 and 115 to ground conductor 80 and to capacitor 62.
- Housing 21 is installed in the vehicle with its axes 22, 25 and 30 aligned with the arbitrary axes of the vehicle, and electrical energization is supplied from transformer winding 72 to sectors 23, 24, 26, 27, 31 and 32.
- Centering of body 20 is accomplished by automatic regulation of the current in centering windings of the sectors as the inner spherical body moves off center, varying the gaps between the sectors and the sphere.
- the inductive reactances of the centering windings have known values, which increase if the gaps become smaller and decrease if the gaps become larger.
- the capacitances of capacitors 54-61 are selected so that when the sphere is centered, and all the gaps are equal, each capacitive reactance is slightly less than that required for resonance with the inductive reactance of the associated centering winding.
- the sectors thus act in pairs to center the sphere along three mutually perpendicular axes.
- the sphere moves so that it approaches the housing, so as to reduce the gap at one sector, it recedes from the opposite sector, increasing the inductance of the first centering and decreasing the inductance of the second.
- the tuned circuit for the sector at the increasing gap approaches more nearly the resonant condition, increasing the current in this centering winding, and thus increasing the magnetic force attracting the sphere to the sector.
- the circuit for the opposite sector is detuned by a greater amount than formally, decreasing the current in and according the force produced by the sector. A net force directed along the axis of the two sectors and proportional to the off-center displacement, recenters the sphere.
- Rotation of the spherical body in this unit is accomplished by what can be considered a three-axis torque motor.
- the magnetic centering system just described uses a centering winding in each sector to produce centering force.
- the magnetic support elements are utilized as segments of a torque motor which can produce bi-directional torques about three orthogonal axes.
- Each pair of opposing sectors is oriented to torque the sphere about one of the three mutually perpendicular axes of the housing.
- the forces acting to produce the torque result from the interplay of eddy currents, induced in the sphere by the magnetic flux of the centering winding, reacting with fluxes produced by the torquing winding.
- All centering windings in the six sectors are excited by a fixed frequency voltage such as at 600 Hertz and 200 volts.
- the torquing windings are excited with the same frequency power, at voltages which lead or lag, by 90 degrees, the voltages on the centering windings.
- a leading voltage causes torque in one direction and a lagging voltage causes torque in the opposite direction.
- the process described above is similar to the well known eddy current motor.
- control signal 85 may be manual or condition responsive, as from a directional gyroscope or computer. Under these conditions the momentum wheel is either stationery, or accelerates in one sense or the other at a rate predetermined by the voltage of transformer 70.
- variation in the energization of a torquing winding may be produced, to vary the torque and the resulting acceleration or velocity of the spherical body.
- variation in torquing energization may also be accomplished by manual or condition responsive means.
- the invention comprises an angular momentum exchange system in which momentum is stored in a spherical body rotating in a spherical housing on supports which eliminate physical contact between the rotating mass and the housing, and thus enable torques to be applied to the body simultaneously about mutually perpendicular axes without introducing any cross-coupling effects.
- one or more redundant sets of magnetic sectors, drive amplifiers, supply transformers, controllers, and phase shifters can be mounted in the open spaces between elements shown in FIGS. 1 and 2.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
Description
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US06/516,819 US4611863A (en) | 1983-07-25 | 1983-07-25 | Magnetically supported and torqued momentum reaction sphere |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/516,819 US4611863A (en) | 1983-07-25 | 1983-07-25 | Magnetically supported and torqued momentum reaction sphere |
Publications (1)
Publication Number | Publication Date |
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US4611863A true US4611863A (en) | 1986-09-16 |
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US06/516,819 Expired - Fee Related US4611863A (en) | 1983-07-25 | 1983-07-25 | Magnetically supported and torqued momentum reaction sphere |
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Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4732353A (en) * | 1985-11-07 | 1988-03-22 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Three axis attitude control system |
US4848706A (en) * | 1988-02-29 | 1989-07-18 | Ford Aerospace Corporation | Spacecraft attitude control using coupled thrusters |
US4874998A (en) * | 1987-06-11 | 1989-10-17 | International Business Machines Corporation | Magnetically levitated fine motion robot wrist with programmable compliance |
US4961352A (en) * | 1988-02-24 | 1990-10-09 | Satcon Technology Corporation | Magnetic bearing and suspension system |
US5413010A (en) * | 1991-07-31 | 1995-05-09 | Mitsubishi Jukogyo Kabushiki Kaisha | Electric motor having a spherical rotor and its application apparatus |
FR2725253A1 (en) * | 1995-01-24 | 1996-04-05 | Samsung Electro Mech | Actuator for magnetic bearing of optical disc player |
FR2797477A1 (en) * | 1999-08-09 | 2001-02-16 | Cit Alcatel | BALL JOINT TYPE MAGNETIC BEARING FOR TILTING BODY |
US6326714B1 (en) * | 1999-10-27 | 2001-12-04 | Moog Inc. | Two-axis pointing motor |
US6384500B1 (en) * | 1999-08-09 | 2002-05-07 | Alcatel | Magnetic centering bearing with high-amplitude tilt control |
WO2004018293A1 (en) * | 2002-08-22 | 2004-03-04 | Honeywell Internation Inc. | Radially actuated control moment gyroscope |
US8164294B2 (en) | 2006-04-05 | 2012-04-24 | Csem Centre Suisse D'electronique Et De Microtechnique S.A. | Torquer apparatus |
WO2012054994A2 (en) | 2010-10-26 | 2012-05-03 | Viktor Baychev | Vibration actuated apparatus for electrical energy production and monitoring of inertial displacements |
CN102975868A (en) * | 2012-11-26 | 2013-03-20 | 张珩 | Magnetic suspension universal momentum sphere device and realizing method thereof |
CN104143947A (en) * | 2014-06-30 | 2014-11-12 | 中国空间技术研究院 | Inductive counteractive momentum sphere system |
CN104753273A (en) * | 2015-04-23 | 2015-07-01 | 清华大学 | Magnetic suspension momentum sphere |
CN105775169A (en) * | 2016-03-21 | 2016-07-20 | 中国空间技术研究院 | Magnetization suspension induction drive type counteractive momentum ball |
US9475592B2 (en) | 2013-01-31 | 2016-10-25 | Northrop Grumman Systems Corporation | Reaction sphere for stabilization and control in three axes |
US9893574B2 (en) | 2015-07-07 | 2018-02-13 | Honeywell International Inc. | Multi-degree of freedom spherical actuator |
US10326348B2 (en) | 2015-07-07 | 2019-06-18 | Honeywell International Inc. | Multi-degree of freedom electromagnetic machine |
US10836512B2 (en) | 2016-05-06 | 2020-11-17 | Honeywell International Inc. | Energy efficient spherical momentum control devices |
US11070122B2 (en) | 2019-02-22 | 2021-07-20 | Honeywell International Inc. | Multi-degree-of-freedom electromagnetic machine |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3252340A (en) * | 1962-10-24 | 1966-05-24 | Sperry Rand Corp | Gyroscopic apparatus |
US3508445A (en) * | 1967-08-07 | 1970-04-28 | United Aircraft Corp | Magnetic suspension accelerometer |
US3845996A (en) * | 1972-03-20 | 1974-11-05 | Padana Ag | Bearing systems |
US3954024A (en) * | 1974-10-25 | 1976-05-04 | Honeywell Inc. | Automatic adaptive centering apparatus for electrically supported inertial instruments |
US4078436A (en) * | 1976-02-27 | 1978-03-14 | Honeywell Inc. | Adaptive bias for electrically suspended gyroscope |
US4245869A (en) * | 1978-08-07 | 1981-01-20 | Padana Ag | Magnetic bearings |
US4393710A (en) * | 1980-11-28 | 1983-07-19 | Office National D'etudes Et De Recherches Aerospatiales | Electrostatic accelerometer |
-
1983
- 1983-07-25 US US06/516,819 patent/US4611863A/en not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3252340A (en) * | 1962-10-24 | 1966-05-24 | Sperry Rand Corp | Gyroscopic apparatus |
US3508445A (en) * | 1967-08-07 | 1970-04-28 | United Aircraft Corp | Magnetic suspension accelerometer |
US3845996A (en) * | 1972-03-20 | 1974-11-05 | Padana Ag | Bearing systems |
US3954024A (en) * | 1974-10-25 | 1976-05-04 | Honeywell Inc. | Automatic adaptive centering apparatus for electrically supported inertial instruments |
US4078436A (en) * | 1976-02-27 | 1978-03-14 | Honeywell Inc. | Adaptive bias for electrically suspended gyroscope |
US4245869A (en) * | 1978-08-07 | 1981-01-20 | Padana Ag | Magnetic bearings |
US4393710A (en) * | 1980-11-28 | 1983-07-19 | Office National D'etudes Et De Recherches Aerospatiales | Electrostatic accelerometer |
Cited By (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4732353A (en) * | 1985-11-07 | 1988-03-22 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Three axis attitude control system |
US4874998A (en) * | 1987-06-11 | 1989-10-17 | International Business Machines Corporation | Magnetically levitated fine motion robot wrist with programmable compliance |
US4961352A (en) * | 1988-02-24 | 1990-10-09 | Satcon Technology Corporation | Magnetic bearing and suspension system |
US4848706A (en) * | 1988-02-29 | 1989-07-18 | Ford Aerospace Corporation | Spacecraft attitude control using coupled thrusters |
US5413010A (en) * | 1991-07-31 | 1995-05-09 | Mitsubishi Jukogyo Kabushiki Kaisha | Electric motor having a spherical rotor and its application apparatus |
FR2725253A1 (en) * | 1995-01-24 | 1996-04-05 | Samsung Electro Mech | Actuator for magnetic bearing of optical disc player |
DE10036529B4 (en) * | 1999-08-09 | 2011-02-03 | Thales | Magnetic bearing in the form of a ball joint for a tilting body |
US6351049B1 (en) | 1999-08-09 | 2002-02-26 | Alcatel | Ball joint type magnetic bearing for tilting body |
US6384500B1 (en) * | 1999-08-09 | 2002-05-07 | Alcatel | Magnetic centering bearing with high-amplitude tilt control |
FR2797477A1 (en) * | 1999-08-09 | 2001-02-16 | Cit Alcatel | BALL JOINT TYPE MAGNETIC BEARING FOR TILTING BODY |
US6326714B1 (en) * | 1999-10-27 | 2001-12-04 | Moog Inc. | Two-axis pointing motor |
WO2004018293A1 (en) * | 2002-08-22 | 2004-03-04 | Honeywell Internation Inc. | Radially actuated control moment gyroscope |
US6834561B2 (en) | 2002-08-22 | 2004-12-28 | Honeywell International Inc. | Radially actuated control moment gyroscope |
US8164294B2 (en) | 2006-04-05 | 2012-04-24 | Csem Centre Suisse D'electronique Et De Microtechnique S.A. | Torquer apparatus |
WO2012054994A2 (en) | 2010-10-26 | 2012-05-03 | Viktor Baychev | Vibration actuated apparatus for electrical energy production and monitoring of inertial displacements |
CN102975868A (en) * | 2012-11-26 | 2013-03-20 | 张珩 | Magnetic suspension universal momentum sphere device and realizing method thereof |
CN102975868B (en) * | 2012-11-26 | 2015-09-16 | 张珩 | The universal momentum sphere device of magnetic suspension |
US9475592B2 (en) | 2013-01-31 | 2016-10-25 | Northrop Grumman Systems Corporation | Reaction sphere for stabilization and control in three axes |
CN104143947A (en) * | 2014-06-30 | 2014-11-12 | 中国空间技术研究院 | Inductive counteractive momentum sphere system |
CN104143947B (en) * | 2014-06-30 | 2016-09-21 | 中国空间技术研究院 | A kind of vicarious retroaction momentum sphere system |
CN104753273A (en) * | 2015-04-23 | 2015-07-01 | 清华大学 | Magnetic suspension momentum sphere |
US9893574B2 (en) | 2015-07-07 | 2018-02-13 | Honeywell International Inc. | Multi-degree of freedom spherical actuator |
US10326348B2 (en) | 2015-07-07 | 2019-06-18 | Honeywell International Inc. | Multi-degree of freedom electromagnetic machine |
CN105775169A (en) * | 2016-03-21 | 2016-07-20 | 中国空间技术研究院 | Magnetization suspension induction drive type counteractive momentum ball |
CN105775169B (en) * | 2016-03-21 | 2017-11-07 | 中国空间技术研究院 | One kind magnetization, which suspends, senses drive-type reaction momentum sphere |
US10836512B2 (en) | 2016-05-06 | 2020-11-17 | Honeywell International Inc. | Energy efficient spherical momentum control devices |
US11070122B2 (en) | 2019-02-22 | 2021-07-20 | Honeywell International Inc. | Multi-degree-of-freedom electromagnetic machine |
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AS | Assignment |
Owner name: HONEYWELL INC., MINNEAPOLIS, MN A DE CORP. Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:ISELY, WILLIAM H.;REEL/FRAME:004159/0038 Effective date: 19830712 Owner name: HONEYWELL INC., MINNESOTA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:ISELY, WILLIAM H.;REEL/FRAME:004159/0038 Effective date: 19830712 |
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Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362 |